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GROUP 13 OSCAR CEDENO CESAR ROMERO CAMILO ROMERO

GROUP 13 OSCAR CEDENO CESAR ROMERO CAMILO ROMERO. E-SKATE. Goals and Objectives. Create a skateboard with simple user feedback Create a fast transportation method inside a college campus User will control the E-Skate by a wireless controller Portable and easy to charge Low cost.

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GROUP 13 OSCAR CEDENO CESAR ROMERO CAMILO ROMERO

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  1. GROUP 13 OSCAR CEDENOCESAR ROMEROCAMILO ROMERO E-SKATE

  2. Goals and Objectives • Create a skateboard with simple user feedback • Create a fast transportation method inside a college campus • User will control the E-Skate by a wireless controller • Portable and easy to charge • Low cost

  3. Specifications • $500 Budget for Project • Under 30 Pounds • 2 Hours Battery Life • 10 Feet Range for Wireless Communication • Cruising in Clear Weather Conditions • 12 V Battery System • 8 Amp-Hours per Battery • 100 Watts DC Motor

  4. Design

  5. ATMEGA 328P • 32 Kbytes Flash Memory • Max operating frequency 20 MHz • Serial Communications SPI, RS232, I2C • Operating Voltage: 1.8 to 5.5 V • Internal Temperature Sensor • 23 I/O Pins • 6 Channel 10 bit ADC • 6 PMW Channels • Price: $ 4

  6. ARDUINO DEVELOPMENT BOARD • 5V Operating Voltage • 7-12V Input Voltage • 14 Digital I/O Pins • 6 Pins provide PWM output • 6 Channel 10 bit ADC • 40 mA DC Current per I/O Pin • 16 MHZ Clock Speed • Programmed with Arduino Software • Price: $ 30

  7. WIRELESS CONTROL ATmega 328P POTENTIOMETER XBEE TRANSMITTER XBEE RECEIVER

  8. XBEE 3.3V @ 50mA 250kbps Max data rate 1mW output (+0dBm) 300ft (100m) range Built-in antenna 6 10-bit ADC input pins 8 digital IO pins 128-bit encryption Local or over-air configuration Price: $ 25 Each

  9. XBEE XPLORER/ XCTU • Programming Xbee in 57600 Baud Rate Frequency

  10. POT • Linear variable resistance of 10 KΩ • Low noise • Long operating life • Highly accurate attenuation • Power consumption of 0.1W • Price: $ 2.70

  11. HANDS ON REMOTE CONTROL LCD SCREEN POTENTIOMETER LCD POWER SWITCH 9V BATTERY ON/OFF SWITCH

  12. CONNECTING XBEE TO ATMEGA 328P

  13. DATA CONTROL ATmega 328P LCD GPS

  14. GPS Module

  15. EM-406a Module Pin Layout • 20-Channel Receiver • 10m Positional Accuracy / 5m with WAAS • Outputs NMEA 0183 and SiRF binary protocol • Small foot print : 30mm x 30mm x 10.5mm • Built-in LED status indicator • 6-pin interface cable included • Hot Start : 1s • Warm Start : 38s • Cold Start : 42s • 70mA at 4.5-6.5V • Price : $ 40

  16. NMEA 0183 Protocol Some Protocol Descriptions: $GPGSV,3,1,12,20,00,000,,10,00,000,,25,00,000,,27,00,000,*79 $GP which start the message all the time Next would be the message which in this case is the GSV, which is described in Table Each data element is separated by a comma, and the data elements are terminated by the * character There is a 8-bit XOR of each character between $ and * to form the checksum Finally the last two characters are hexadecimal representation of the calculated checksum.

  17. GPS Schematic

  18. Arduino’s GPS Serial Monitor EM-406a is sending data to the Arduino development board and it is displayed on the computer screen.

  19. GPS, Arduino, LCD GPS is connected hardware to the Arduino board and it send data to the computer.

  20. Data Microcontroller • Microcontroller will display data to LCD • Will take input from GPS • Separate unit from microcontroller which controls motor

  21. LCD

  22. Newhaven LCD • Display data related to E-Skate state • GPS Location • Velocity • Altitude

  23. Newhaven LCD

  24. LCD Programming • Arduino playground LCDi2cNHD library • Implements Arduino Wire Library • Connects to microcontroller through the I2C protocol • Only needs 2 wires to connect to the microcontroller • Allows for easier control of LCD

  25. Software Design • Data Control • Motor Control • Wireless Control

  26. Data Control Software • Creates instances of serial connection to GPS, GPS and LCD • Virtual Serial connection allows for us to connect any pin to the GPS • Allows for easy troubleshooting from PC • Instance of GPS allows for different functions for NME0183 string parsing • Instance of LCD allows for easier code programming on the LCD

  27. Data Microcontroller UML Diagram

  28. Wireless Microcontroller • Creates instance of Xbee • Read from potentiometer • Values from 0 to 1023 (210 -1) • Values are converted to values between 0 – 255

  29. Setup Variables Setup Xbee and Pins Read Value from Potentiometer Divide by 4 Send data to Xbee

  30. Motor Microcontroller • Creates an instance of Xbee for communication • Uses Pulse-Width Modulation (PWM) to control the motor • Controlled using a duty cycle of 0 to 255 • Has self correcting noise code

  31. MOTOR CONTROL DC Motor ATmega 328P XBEE RECEIVER H-BRIDGE BATTERY CHARGER

  32. BTN7971B HALF BRIDGE • Low quiescent current of typ. 7 μA @ 25 °C • PWM capability of up to 25 kHz combined with active freewheeling • Current limitation level of 50 A (steady state) / 70 A (Max) • Status flag diagnosis with current sense capability • Overtemperature shut down with latch behavior • Overvoltage lock out • Undervoltage shut down • Price: $ 8

  33. POWER SYSTEM

  34. Battery UB 1280 • Cells Per unit : 6 • Voltages Per Unit : 12 • Capacity: 8 AH at 20hr-rate to 1.75V • Weight : 4.96 Pounds • Maximum Discharge Current: 50 A • Maximum Charging: 1.5A • Operating Temperature Range: Discharge: -20C - 60C Charge: 0C - 50C Storage: -20C - 60C • Price: $ 18

  35. Motor MY6812A • 12Volts DC 100W drive motor • Max non-load speed 3400 RPM • Max load speed 2700 RPM • Heavy duty and used by scooter companies • Rated torsion:0.28 N·m • Transmission output: Cam Belt • Price: $ 20

  36. KY-05036S AC Charger • AC power Adapter 5V-12V • Input of 100 - 240 V @ 1A • Price: $ 25

  37. FINAL PCB DESIGN

  38. FINAL PCB DESIGN

  39. Problems • Battery Life using a voltage divider • Receiving noise in Xbee • Overheating cables, traces, and H-Bridge

  40. Solutions • Noise Detection

  41. Noise Correction • During testing, it was shown that there was an abundant amount of noise • Many noise values, most abundant were 141 and 128 • Noise correcting code saves the previous value outputted and then compares the present value to predetermined noise values

  42. Battery Voltage Divider • Allows for knowledge of how much battery is left based on how much voltage is provided by battery • Range of 11-13V • Voltage divider lowers battery voltage to a readable voltage by the microcontroller • Unity Gain Buffer used for controlling current, has low current going into the microcontroller

  43. Battery Voltage Divider R2/R1 + R2 = Vout / Vin

  44. SN75441 • 1 A OUTPUT- Current per Driver • It was not enough to handle the current to move to motor attach to the wheel

  45. TLE 5206 – 2G Problems • Was used for second prototype • Only allows 5-Amps

  46. BTN 7971 Problems • Original H-Bridge that was to be used • Overheated and would melt the solder joints • A PCB trace burnt from the current • 4 H-Bridges internal circuitry burned out

  47. Additional Solutions • Overheating solved by replacing connections with better gauge cables • Traces burnt, so we built a backup Perfboard • H-bridge overheating solved by heat sink

  48. Back Up • Built a backup motor controller Perfboard with a spare 5A H-Bridge from previous testing

  49. Back Up Board

  50. COMPLETED

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